Desarrollo de un mecanismo basado en robótica suave con la implementación de un patrón de piel Kirigami que permita la reducción del tiempo de la locomoción ondulatoria

Abstract

In the present proposal, it can be observed how soft robotics has emerged as a great field that seeks to overcome certain limitations of traditional rigid robots, allowing them to interact with delicate objects and in unstructured environments. This document contains a wealth of information about soft robotics, which involves Kirigami patterns in the design, as well as a pneumatic circuit that integrates into the aforementioned soft robot. Kirigami is an ancient form of art that combines the techniques of origami and cutting, offering a versatile and scalable approach to creating complex and controllable mechanical structures. This thesis presents a comprehensive study on the use of Kirigami patterns to enhance the capabilities of soft robots. The main objective is to explore design principles, modeling techniques, and the implementation of soft actuators, as well as the potential applications of soft robotics inspired by Kirigami. This document also includes an in-depth review of the state of the art in soft robotics and the Kirigami technique, highlighting their respective advantages and challenges. Then, the research delves into the design methodology to incorporate Kirigami patterns in soft robotic systems as well as the creation and design of the soft robot, specifying various occupied patterns as well as in the kevlar thread that is around said robot as well as also in Kirigami pattern. In addition, the thesis addresses the mathematical modeling of Kirigami structures in the context of soft robotics, which allows predicting and optimizing their performance. To validate the effectiveness of these Kirigami patterns as well as their versatility in soft robotics, several experimental prototypes are developed, which demonstrate novel functionalities such as: shape transformation, selfadaptation and improved locomotion, all of which is possible thanks to the unique properties found in Kirigami structures. The final part of the thesis investigates possible applications of Kirigami-inspired soft robotics in various domains. Examples include biomedical applications such as surgical tools and prosthetics, environmental monitoring through soft robots capable of navigating complex terrain. By including these principles of soft robotics and Kirigami, this thesis aims to contribute to advances in robotic systems that possess greater dexterity, adaptability, and versatility. The results presented in this paper provide a foundation for further research and inspire the development of innovative soft robotic designs for a wide range of applications.